相关论文: VIP: Vision Instructed Pre-training for Robotic Ma…

Data-driven approaches struggle with precise manipulation; imitation learning requires many hard-to-obtain demonstrations, while reinforcement learning yields brittle, non-generalizable policies. We introduce VisuoTactile Local (ViTaL)…

Robotic manipulation policies often fail to generalize because they must simultaneously learn where to attend, what actions to take, and how to execute them. We argue that high-level reasoning about where and what can be offloaded to…

Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are…

Reliable simulation evaluation of robot manipulation policies serves as a high-fidelity proxy for real-world performance. Although existing benchmarks cover a wide range of task categories, they lack visual realism, creating a large domain…

We study reward models for long-horizon manipulation tasks by learning from action-free videos and language instructions, which we term the visual-instruction correlation (VIC) problem. Recent advancements in cross-modality modeling have…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly severe in long-horizon tasks involving…

Vision Transformers (ViTs) have become prominent models for solving various vision tasks. However, the interpretability of ViTs has not kept pace with their promising performance. While there has been a surge of interest in developing {\it…

The ability to predict future visual observations conditioned on past observations and motor commands can enable embodied agents to plan solutions to a variety of tasks in complex environments. This work shows that we can create good video…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

When using reinforcement learning (RL) for contact-rich robotic manipulation, vision can provide task-relevant information that accelerates learning beyond what proprioception alone can achieve. However, vision-enabled policies tend to…

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to…

Visual prompting infuses visual information into the input image to adapt models toward specific predictions and tasks. Recently, manually crafted markers such as red circles are shown to guide the model to attend to a target region on the…

Imitation learning with a privileged teacher has proven effective for learning complex control behaviors from high-dimensional inputs, such as images. In this framework, a teacher is trained with privileged task information, while a student…

The exploration of various vision-language tasks, such as visual captioning, visual question answering, and visual commonsense reasoning, is an important area in artificial intelligence and continuously attracts the research community's…

While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…

Visual robotic manipulation research and applications often use multiple cameras, or views, to better perceive the world. How else can we utilize the richness of multi-view data? In this paper, we investigate how to learn good…

Vision Transformers (ViTs) have become ubiquitous in computer vision. Despite their success, ViTs lack inductive biases, which can make it difficult to train them with limited data. To address this challenge, prior studies suggest training…